CN112828873A

CN112828873A - Multi-degree-of-freedom mechanical arm

Info

Publication number: CN112828873A
Application number: CN202110194852.9A
Authority: CN
Inventors: 阳复建; 刘忠; 徐成福; 林远艳; 邱晓敏; 赵靖
Original assignee: Guilin University of Aerospace Technology
Current assignee: Guilin University of Aerospace Technology
Priority date: 2021-02-21
Filing date: 2021-02-21
Publication date: 2021-05-25

Abstract

The invention discloses a multi-degree-of-freedom mechanical arm which comprises a moving base, a mounting seat and a connecting assembly, wherein a mounting column is vertically arranged on the mounting seat, a rotating arm is rotatably arranged on the mounting column and is driven by a rotating driving assembly to rotate, a swinging arm is hinged to one end of the rotating arm, the swinging arm is driven by a swinging driving assembly to swing along the hinged position of the swinging arm, and a clamping assembly used for clamping a workpiece is arranged at the lower end of the swinging arm. Through setting up the rotation drive assembly, swing drive assembly, and then can realize grasping of centre gripping subassembly to the work piece on a plurality of degrees of freedom, so that adjust according to the concrete position of work piece, promoted the efficiency of grasping to the work piece, through setting up coupling assembling, make the erection column can install and remove fast on moving the base, make centre gripping subassembly can install on the not removal base of equidimension like this, and then can be when snatching bulky work piece, guarantee moving the stability of base and be unlikely to empty.

Description

Multi-degree-of-freedom mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom mechanical arm.

Background

Chinese patent No. CN208663811U discloses a robot arm gripping device, which adopts the adsorption technical principle of electromagnets, and the gripping assembly includes a body, a telescoping mechanism, a connecting rod, a supporting plate and a plurality of gripper jaws, the telescoping mechanism includes a first electromagnet, a second electromagnet, a third electromagnet, a fourth electromagnet, a first insulating elastic member, a second insulating elastic member, a first insulating sleeve, a second insulating sleeve and a fixing plate, the gripper jaws include a rear connecting section with one end connected with a bottom plate torsion spring and a front jaw section with the other end connected with the rear connecting section; this technical scheme produces magnetism looks attraction effect between first electromagnetism and the third electromagnetism and between second electro-magnet and the fourth electro-magnet respectively to and through the elastic force effect of first insulating elastic component and second insulating elastic component, snatch and stretch out the expansion in order to realize the indentation of gripper jaw, can satisfy different work pieces or article and snatch the use needs, compare prior art and have simple structure, the quality is light and characteristics with low costs, be suitable for popularization and application.

The mechanical arm in the prior art has the advantages that due to the fact that the design of the freedom degree is few, the grabbing position cannot be flexibly changed, and the clamping and grabbing of workpieces are affected.

To solve the above problems, a multi-degree-of-freedom mechanical arm is proposed.

Disclosure of Invention

The technical problem to be solved by the invention is to overcome the defects of the prior art, and to solve the technical problem, the invention provides the following technical scheme:

the invention provides a multi-degree-of-freedom mechanical arm which comprises a moving base, wherein a mounting seat is arranged on the moving base, the mounting seat is detachably connected with the moving base through a connecting component, a mounting column is vertically arranged on the mounting seat, a rotating arm is rotatably arranged on the mounting column, the rotating arm is driven by a rotating driving component to rotate around the axis of the mounting column, one end of the rotating arm, far away from the mounting column, is hinged with a swinging arm, the swinging arm is driven by a swinging driving component to swing along the hinged position of the swinging arm, and the lower end of the swinging arm is provided with a clamping component for clamping a workpiece.

As a further optimization of the technical solution, the connecting assembly comprises a locking part arranged on the top of the movable base, the bottom of the mounting seat is provided with a mounting groove which is used for freely passing through the locking part and is in a blind hole form, the locking part is internally provided with a pin rod which is horizontally matched and penetrates out of the side wall of the locking part in a sliding way, the mounting seat is provided with an insertion hole for inserting the pin rod through one end of the locking part, one end of the pin rod penetrating into the locking part is provided with a magnetic conductive sliding block, a stop groove which is used for clamping the magnetic conductive sliding block and can horizontally and freely slide is arranged in the locking part, a first electromagnet is arranged in the stop groove, a first spring is arranged between the first electromagnet and the magnetic conductive sliding block, two ends of the first spring in the elastic direction elastically abut against the first electromagnet and the magnetic conductive sliding block respectively, and in a natural state, the magnetic conductive sliding block is driven to be away from the first electromagnet, and the pin rod is inserted into the insertion hole of the mounting seat.

As a further optimization of the technical scheme, the rotation driving assembly comprises a fixed gear sleeved on the mounting column, a servo motor is vertically mounted on the rotating arm, a transmission gear in meshing transmission with the fixed gear is connected to the servo motor in a driving manner, and the servo motor drives the transmission gear to rotate so as to drive the rotating arm to rotate along the axis of the mounting column.

As the above technical solution is further optimized, the swing driving assembly includes a movable hinged support hinged to the rotating arm, a telescopic cylinder is installed on the movable hinged support, the telescopic cylinder is connected with a connector in a driving manner, an inclined pull rod is fixedly connected to the swing arm, the upper end of the inclined pull rod is hinged to the connector, and when the cylinder rod of the telescopic cylinder stretches, the connector moves to drive the inclined pull rod to drive the swing arm to rotate along the hinged position with the rotating arm.

As the above technical solution is further optimized, the clamping assembly includes clamping jaws hinged to two opposite sides of the lower end of the swing arm, the swing arm is sleeved with a second electromagnet, the swing arm is slidably and fittingly provided with a floating hinged support, the floating hinged support is made of a magnetic conductive material and is located above the second electromagnet, two opposite sides of the floating hinged support are respectively hinged with hinge rods, two ends of the hinge rods, which are far away from the floating hinged support, are respectively hinged with the two clamping jaws, a second spring is arranged between the floating hinged support and the second electromagnet, and two ends of the second spring in the elastic direction elastically abut against the second electromagnet and the floating hinged support respectively.

As a further optimization of the technical scheme, a sliding sleeve penetrates through the floating hinged support, and the sliding sleeve is sleeved on the swing arm in a sliding fit manner.

Compared with the prior art, the invention has the following beneficial effects: through setting up the rotation drive subassembly, swing drive subassembly, and then can realize snatching of centre gripping subassembly to the work piece on a plurality of degrees of freedom, so that adjust according to the concrete position of work piece, relative prior art, at least the efficiency of snatching the work piece has been promoted to a certain extent, through setting up coupling assembling, make the erection column can install and remove fast on moving the base, make the centre gripping subassembly can install on the not removal base of equidimension like this, and then can snatch the bulky work piece when, guarantee to move the stability of base and be unlikely to empty, through setting up the rotation drive subassembly, and drive gear and fixed gear meshing transmission by servo motor, and then drive the rotor arm and rotate, realize centre gripping subassembly position control, moreover, the steam generator is simple in structure, and convenient for operation.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of a multi-degree of freedom robotic arm of the present invention;

FIG. 2 is an enlarged schematic view of a portion of the structure at A in FIG. 1;

FIG. 3 is a schematic view of a connection assembly of the present invention;

the reference numerals are explained below:

1-a movable base, 2-a mounting base, 3-a mounting column, 4-a transmission gear, 5-a servo motor, 6-a fixed gear, 7-a rotating arm, 8-a movable hinge base, 9-a telescopic cylinder, 10-a connecting head, 11-a diagonal draw bar, 12-a swinging arm, 13-a hinge rod, 14-a clamping jaw, 15-a second electromagnet, 16-a second spring, 17-a floating hinge base, 18-a stop groove, 19-a mounting groove, 20-a pin rod, 21-a magnetic conductive sliding block, 22-a first spring, 23-a first electromagnet and 24-a locking part.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Examples

As shown in fig. 1-3, a multi-degree-of-freedom mechanical arm comprises a movable base 1, wherein a mounting base 2 is arranged on the movable base 1, the mounting base 2 and the movable base 1 are detachably connected through a connecting component, a mounting column 3 is vertically arranged on the mounting base 2, a rotating arm 7 is rotatably arranged on the mounting column 3, the rotating arm 7 is driven by a rotation driving component to rotate around the axis of the mounting column 3, one end of the rotating arm, which is far away from the mounting column 3, is hinged to a swing arm 12, the swing arm 12 is driven by a swing driving component to swing along the hinged position with the rotating arm 7, and a clamping component for clamping a workpiece is arranged at the lower end of the swing arm.

In this embodiment, the connecting assembly includes a locking portion 24 disposed at the top of the moving base 1, the bottom of the mounting base 2 is provided with a blind hole-shaped mounting groove 19 through which the locking portion 24 freely passes, a pin rod 20 horizontally slidably penetrates through a side wall of the locking portion 24 is disposed in the locking portion 24, the mounting base 2 is provided with a jack through which the pin rod 20 penetrates through one end of the locking portion 24, one end of the pin rod 20 penetrating into the locking portion 24 is provided with a magnetic conductive slider 21, a locking groove 18 for the magnetic conductive slider 21 to engage with and horizontally freely slide is disposed in the locking portion 24, a first electromagnet 23 is disposed in the locking groove 18, a first spring 22 is disposed between the first electromagnet 23 and the magnetic conductive slider 21, two ends of the first spring 22 in an elastic direction elastically abut against the first electromagnet 23 and the magnetic conductive slider 21 respectively, and the magnetic conductive slider 21 is driven to be away from the first electromagnet 23 in a natural state, and the pin rod 20 is inserted into the insertion hole of the mounting seat 2.

In this embodiment, the rotation driving assembly includes a fixed gear 6 sleeved on the mounting column 3, a servo motor 5 is vertically installed on the rotating arm 7, a transmission gear 4 in meshing transmission with the fixed gear 6 is connected to the servo motor 5 in a driving manner, the servo motor 5 drives the transmission gear 4 to rotate, and then the rotating arm 7 is driven to rotate along the axis of the mounting column 3, so that the clamping assembly can swing on the horizontal plane.

In this embodiment, swing drive assembly is including articulating the activity free bearing 8 on the rotor arm 7, install telescopic cylinder 9 on the activity free bearing 8, the last drive of telescopic cylinder 9 is connected with connector 10, the rigid coupling has oblique pull rod 11 on the swing arm 12, oblique pull rod 11 upper end with connector 10 is articulated, when telescopic cylinder 9's cylinder pole is flexible, make connector 10 removes, and then the drive is oblique pull rod 11 and is driven swing arm 12 and rotate along the articulated department with rotor arm 7, realizes that the centre gripping subassembly swings on longitudinal plane.

In this embodiment, the centre gripping subassembly is including cup jointing in hinging in the clamping jaw 14 of 12 lower extreme relative both sides of swing arm, second electro-magnet 15 has been cup jointed on swing arm 12, swing arm 12 goes up to slide the supporting floating hinged support 17 that is equipped with, floating hinged support 17 is made by the magnetic material, and it is located second electro-magnet 15 top, the relative both sides of floating hinged support 17 respectively articulate there is hinge rod 13, two the one end that hinge rod 13 kept away from floating hinged support 17 corresponds respectively and is articulated with two clamping jaws 14, be equipped with second spring 16 between floating hinged support 17 and the second electro-magnet 15, second electro-magnet 15 and floating hinged support 17 are supported to elasticity respectively at second spring 16 elasticity direction both ends.

In this embodiment, a sliding sleeve (not shown in the drawings) is disposed on the floating hinge seat 17 in a penetrating manner, the sliding sleeve is slidably fitted on the swing arm 12, and by providing the sliding sleeve, when the floating hinge seat 17 slides on the swing arm 12, mechanical wear to the floating hinge seat 17 is reduced.

When the invention is used: when the movable bases 1 with different sizes are installed, firstly, an external power supply is switched on, so that the first electromagnet 23 is electrified and generates magnetism, the magnetic conductive sliding block 21 is driven to move towards the direction of the first electromagnet 23, the pin rod is retracted into the locking part 24, the installation groove 19 on the installation base 2 is sleeved on the locking part 24, then, the power supply is switched off, the first electromagnet 23 is powered off and loses magnetism, and the elastic propping of the first spring 22 on the magnetic conductive sliding block 21 is realized, so that the pin rod 20 is inserted into the jack of the installation base 2;

when the grabbing position of the clamping assembly is adjusted, the servo motor 5 rotates to drive the transmission gear 4 to be meshed with the fixed gear 6 for transmission, so that the rotating arm 7 is driven to rotate, and then the cylinder rod of the telescopic cylinder 9 stretches to drive the diagonal draw bar 11 to swing, so that the clamping assembly swings, and the grabbing position of the clamping assembly is adjusted;

when the clamping assembly grabs a workpiece, an external power supply is firstly switched on, the second electromagnet 15 is electrified to generate magnetism, the floating hinged support 17 moves downwards, the hinge rod 13 pushes the two clamping jaws 14 to move downwards, and the two clamping jaws 14 clamp the workpiece together.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a multi freedom arm, includes one and removes base (1), its characterized in that, be equipped with a mount pad (2) on removing base (1), can dismantle through coupling assembling between mount pad (2) and the removal base (1) and be connected, the vertical erection column (3) that is equipped with on mount pad (2), rotationally install rotor arm (7) on erection column (3), rotor arm (7) are rotated around the axle center of erection column (3) by rotating drive assembly drive it, and it keeps away from the one end of erection column (3) articulates there is swing arm (12), swing arm (12) are driven its swing along the articulated department with rotor arm (7) by swing drive assembly, and its lower extreme is equipped with the centre gripping subassembly that is used for the centre gripping work piece.

2. The multi-degree-of-freedom mechanical arm according to claim 1, wherein the connecting assembly comprises a locking part (24) arranged at the top of the moving base (1), the bottom of the mounting base (2) is provided with a mounting groove (19) which is used for the locking part (24) to freely pass through and is in a blind hole form, a pin rod (20) which horizontally slides out of the side wall of the locking part is arranged in the locking part (24), a jack which is used for the pin rod (20) to penetrate out of one end of the locking part (24) to be inserted is arranged on the mounting base (2), one end of the pin rod (20) which penetrates into the locking part (24) is provided with a magnetic conductive sliding block (21), a locking groove (18) which is used for the magnetic conductive sliding block (21) to be clamped and can horizontally and freely slide is arranged in the locking part (24), a first electromagnet (23) is arranged in the locking groove (18), and a first spring (22) is arranged between the first electromagnet (23, the two ends of the elastic direction of the first spring (22) respectively and elastically abut against the first electromagnet (23) and the magnetic conduction sliding block (21), and in a natural state, the magnetic conduction sliding block (21) is driven to be far away from the first electromagnet (23), and the pin rod (20) is inserted into the insertion hole of the mounting base (2).

3. The mechanical arm with multiple degrees of freedom of claim 1 is characterized in that the rotary driving component comprises a fixed gear (6) sleeved on the mounting column (3), a servo motor (5) is vertically mounted on the rotary arm (7), a transmission gear (4) in meshing transmission with the fixed gear (6) is connected to the servo motor (5) in a driving mode, the servo motor (5) drives the transmission gear (4) to rotate, and then the rotary arm (7) is driven to rotate along the axis of the mounting column (3).

4. The mechanical arm with multiple degrees of freedom of claim 1, wherein the swing driving assembly comprises a movable hinged support (8) hinged to the rotating arm (7), a telescopic cylinder (9) is mounted on the movable hinged support (8), a connector (10) is connected to the telescopic cylinder (9) in a driving mode, a diagonal draw bar (11) is fixedly connected to the swing arm (12), the upper end of the diagonal draw bar (11) is hinged to the connector (10), and when a cylinder rod of the telescopic cylinder (9) stretches, the connector (10) moves to drive the diagonal draw bar (11) to drive the swing arm (12) to rotate along the hinged position with the rotating arm (7).

5. The MDOF robot arm of claim 1, wherein said gripping assembly comprises gripping jaws (14) pivotally connected to opposite sides of a lower end of a swing arm (12), the swing arm (12) is sleeved with a second electromagnet (15), the swing arm (12) is provided with a floating hinged support (17) in a sliding and matching way, the floating hinged support (17) is made of magnetic conductive material, and is positioned above the second electromagnet (15), hinge rods (13) are respectively hinged on two opposite sides of the floating hinged support (17), one ends of the two hinge rods (13) far away from the floating hinged support (17) are respectively hinged with the two clamping jaws (14) correspondingly, a second spring (16) is arranged between the floating hinged support (17) and the second electromagnet (15), and two ends of the second spring (16) in the elastic direction elastically abut against the second electromagnet (15) and the floating hinged support (17) respectively.

6. The multi-degree-of-freedom mechanical arm as claimed in claim 5, wherein a sliding sleeve is arranged on the floating hinged support (17) in a penetrating mode, and the sliding sleeve is sleeved on the swing arm (12) in a sliding mode.